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31.发明申请公开(公告)号：US20170258537A1
公开(公告)日：2017-09-14
申请号：US15607676
申请日：2017-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20170112354A1
公开(公告)日：2017-04-27
申请号：US15126978
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Jeffrey DiCarlo , Tao Zhao , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond
CPC classification number: A61B1/00009 , A61B1/00193 , A61B1/0638 , A61B34/30 , A61B34/35 , A61B90/30 , A61B90/37 , A61B2090/371 , G06T7/90 , G06T2207/30004 , H04N5/2352 , H04N9/04
Abstract: Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.
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公开(公告)号：US20160357838A1
公开(公告)日：2016-12-08
申请号：US15242408
申请日：2016-08-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brian D. Hoffman , Joshua Radel
CPC classification number: G06F17/30575 , A61B34/00 , A61B34/37 , G06F9/542 , G06F17/30371 , G06F17/30377 , G06F17/30578
Abstract: A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.
Abstract translation: 提供机器人系统。 机器人系统包括发布节点，其包括至少一个包括多个属性的第一同步数据库，每个属性包括标识属性和数据的标签，与每个属性相关联的标志和订户列表。 该系统还包括包括至少一个第二同步数据库的用户节点。 发布节点被配置为当属性被写入至少一个第一同步数据库中时或当包括在属性中的数据被修改并且将标记的属性发布到订户节点时，设置与属性相关联的标志。
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34.发明申请AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUOROESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE 审中-公开使用与FLUOROESCENCE图像组合的捕获的可见图像和捕获的可见图像的手术机器人的增强的立体视觉化公开(公告)号：US20150077519A1
公开(公告)日：2015-03-19
申请号：US14332684
申请日：2014-07-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
CPC classification number: A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
Abstract: An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images.
Abstract translation: 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 捕获单元捕获（1）可见的第一图像和（2）与来自光的荧光第二图像组合的可见第二图像。 智能图像处理系统接收（1）可见第一图像和（2）与荧光第二图像组合的可见第二图像，并产生立体对荧光图像和可见第二图像的至少一个荧光图像。 增强立体显示系统输出包括在一只眼睛中的三维呈现的实时立体图像，立体对荧光图像对的至少一个荧光图像与可见第一和第二图像之一的混合; 在另一只眼睛中，可见的第一和第二图像中的另一个。
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35.发明申请PROVIDING INFORMATION OF TOOLS BY FILTERING IMAGE AREAS ADJACENT TO OR ON DISPLAYED IMAGES OF THE TOOLS 审中-公开通过扫描图像区域附加或显示工具图像来提供工具信息公开(公告)号：US20140232824A1
公开(公告)日：2014-08-21
申请号：US13768062
申请日：2013-02-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Brian D. Hoffman , Brandon D. Itkowitz , Paul W. Mohr , David W. Robinson , Tao Zhao , Wenyi Zhao
IPC: H04N13/00
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361
Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.
Abstract translation: 操作员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看对象，工具和工作现场的实时图像。 工具信息是通过过滤一部分实时图像来增强或降级的，以指示工具的状态并在显示器上显示经滤波的图像。
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Patent Agency Ranking
36.发明授权公开(公告)号：US12108992B2
公开(公告)日：2024-10-08
申请号：US17264257
申请日：2019-07-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Siddarth Sen , Brian D. Hoffman , Geoffrey A. Richmond
CPC classification number: A61B34/20 , A61B34/70 , G06N3/047 , A61B2034/2065
Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.
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公开(公告)号：US20240197421A1
公开(公告)日：2024-06-20
申请号：US18416759
申请日：2024-01-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
CPC classification number: A61B34/35 , A61B34/10 , A61B34/20 , A61B34/25 , A61B2017/00477 , A61B2018/00595 , A61B2018/00988 , A61B2034/101 , A61B2034/256 , A61B2034/302 , A61B2090/3612 , A61B2090/364 , A61B90/37
Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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公开(公告)号：US11931122B2
公开(公告)日：2024-03-19
申请号：US16349202
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
CPC classification number: A61B34/35 , A61B34/10 , A61B34/20 , A61B34/25 , A61B2017/00477 , A61B2018/00595 , A61B2018/00988 , A61B2034/101 , A61B2034/256 , A61B2034/302 , A61B2090/3612 , A61B2090/364 , A61B90/37
Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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公开(公告)号：US11759093B2
公开(公告)日：2023-09-19
申请号：US17158976
申请日：2021-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
IPC: A61B1/00 , A61B1/06 , A61B90/30 , H04N23/10 , H04N23/72 , A61B34/35 , A61B90/00 , G06T7/90 , A61B34/30
CPC classification number: A61B1/000095 , A61B1/00193 , A61B1/0638 , A61B1/0655 , A61B34/35 , A61B90/30 , A61B90/37 , G06T7/90 , H04N23/10 , H04N23/72 , A61B34/30 , A61B2090/371 , G06T2207/30004
Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.
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公开(公告)号：US11672606B2
公开(公告)日：2023-06-13
申请号：US16396125
申请日：2019-04-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
IPC: A61B34/20 , A61B1/00 , A61B34/30 , A61B90/00 , A61B5/06 , A61B34/37 , A61B1/04 , A61B1/313 , A61B34/10 , A61B5/00
CPC classification number: A61B34/20 , A61B1/00193 , A61B1/00194 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B34/30 , A61B34/37 , A61B90/36 , A61B5/062 , A61B5/725 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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